Kinematics of the 3RRRS+S parallel wrist: a parallel manipulator free of intersecting revolute axes

• Autores: J. Gallardo-Alvarado, M.A. García-Murillo, L. Pérez-González
• Localización: Mechanics based design of structures and machines, ISSN 1539-7734, Vol. 41, Nº. 4, 2013, págs. 452-467
• Idioma: inglés
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• Resumen

  • In this article, some relevant kinematic properties of a spherical parallel manipulator with orientational actuators and without intersecting revolute axes are investigated mainly by means of the theory of screws. The analyses considered in this contribution cover displacement analysis, velocity, and acceleration analyses as well as a brief explanation of the performance of the parallel wrist by studying its workspace, isotropy, and singular configurations. A case study is included in order to exemplify the application of the method.